Combination of UAV and Raspberry Pi 4B: Airspace detection of red imported fire ant nests using an improved YOLOv4 model

Red imported fire ants (RIFA) are an alien invasive pest that can cause serious ecosystem damage. Timely detection, location and elimination of RIFA nests can further control the spread of RIFA. In order to accurately locate the RIFA nests, this paper proposes an improved deep learning method of YOLOv4. The specific methods were as follows: 1) We improved GhostBottleNeck (GBN) and replaced the original CSP block of YOLOv4, so as to compress the network scale and reduce the consumption of computing resources. 2) An Efficient Channel Attention (ECA) mechanism was introduced into GBN to enhance the feature extraction ability of the model. 3) We used Equalized Focal Loss to reduce the loss value of background noise. 4) We increased and improved the upsampling operation of YOLOv4 to enhance the understanding of multi-layer semantic features to the whole network. 5) CutMix was added in the model training process to improve the model's ability to identify occluded objects. The parameters of improved YOLOv4 were greatly reduced, and the abilities to locate and extract edge features were enhanced. Meanwhile, we used an unmanned aerial vehicle (UAV) to collect images of RIFA nests with different heights and scenes, and we made the RIFA nests (RIFAN) airspace dataset. On the RIFAN dataset, through qualitative analysis of the evaluation indicators, mean average precision (MAP) of the improved YOLOv4 model reaches 99.26%, which is 5.9% higher than the original algorithm. Moreover, compared with Faster R-CNN, SSD and other algorithms, improved YOLOv4 has achieved excellent results. Finally, we transplanted the model to the embedded device Raspberry Pi 4B and assembled it on the UAV, using the model's lightweight and high-efficiency features to achieve flexible and fast flight detection of RIFA nests.